MainWindow.cc

/*===================================================================
======================================================================*/

/**
 * @file
 *   @brief Implementation of class MainWindow
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
 */

#include <QSettings>
#include <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>

#include "MG.h"
#include "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "QGCToolWidget.h"

#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
#endif

// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"


#include "LogCompressor.h"

MainWindow* MainWindow::instance()
{
    static MainWindow* _instance = 0;
    if(_instance == 0)
    {
        _instance = new MainWindow();

        /* Set the application as parent to ensure that this object
                 * will be destroyed when the main application exits */
        //_instance->setParent(qApp);
    }
    return _instance;
}

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
MainWindow::MainWindow(QWidget *parent):
        QMainWindow(parent),
        toolsMenuActions(),
        currentView(VIEW_OPERATOR),
        aboutToCloseFlag(false),
        settings()
{
    // Get current settings
    settings.sync();

    // Check if the settings exist, instantiate defaults if necessary
    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, currentView);
    if (!settings.contains(centralKey))
    {
        settings.setValue(centralKey,true);
    }

    QString listKey = buildMenuKey(SUB_SECTION_CHECKED, MENU_UAS_LIST, currentView);
    if (!settings.contains(listKey))
    {
        settings.setValue(listKey, true);
    }

    settings.sync();

    // Setup user interface
    ui.setupUi(this);

    buildCommonWidgets();

    connectCommonWidgets();

    arrangeCommonCenterStack();

    configureWindowName();

    // Add status bar
    //setStatusBar(createStatusBar());

    // Set the application style (not the same as a style sheet)
    // Set the style to Plastique
    qApp->setStyle("plastique");

    // Set style sheet as last step
    reloadStylesheet();

    // Create actions
    connectCommonActions();
    // Add option for custom widgets
    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
    // Allow to mute audio
    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));

    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);

    // Load mavlink view as default widget set
    //loadMAVLinkView();

    statusBar()->setSizeGripEnabled(true);

    if (settings.contains("geometry"))
    {
        // Restore the window geometry
        restoreGeometry(settings.value("geometry").toByteArray());
    }
    else
    {
        // Adjust the size
        adjustSize();
    }

    // Populate link menu
    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
    foreach(LinkInterface* link, links)
    {
        this->addLink(link);
    }

    // Enable and update view
    presentView();
}

MainWindow::~MainWindow()
{

}

void MainWindow::buildCommonWidgets()
{
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);

    // Dock widgets
    if (!controlDockWidget)
    {
        controlDockWidget = new QDockWidget(tr("Control"), this);
        controlDockWidget->setWidget( new UASControlWidget(this) );
        addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
    }

    if (!listDockWidget)
    {
        listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
        listDockWidget->setWidget( new UASListWidget(this) );
        addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
    }

    if (!waypointsDockWidget)
    {
        waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
        waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
        addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
    }

    if (!infoDockWidget)
    {
        infoDockWidget = new QDockWidget(tr("Status Details"), this);
        infoDockWidget->setWidget( new UASInfoWidget(this) );
        addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
    }

    if (!debugConsoleDockWidget)
    {
        debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
        debugConsoleDockWidget->setWidget( new DebugConsole(this) );
        addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
    }

    // Center widgets
    if (!mapWidget)
    {
        mapWidget         = new MapWidget(this);
        addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
    }